Namiki, Kousuke, Tomohiro Mori, Youichiro Miyake, Shinpei Sakata, and Gustavo Martins. “Advanced Real-Time Hierarchical Task Network: Long-Term Behavior in Real-Time Games”. Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment 17, no. 1 (October 4, 2021): 208-212. Accessed September 13, 2024. https://ojs.aaai.org/index.php/AIIDE/article/view/18910.